摘要
针对传统滑模控制存在的有限时间收敛难题及高增益引发的抖振问题,设计非奇异快速终端滑模控制(NFTSMC)与广义比例积分观测器(GPIO)的复合算法,提出新型复合控制策略以提升永磁同步电机控制性能。该算法通过构建含非线性项的滑模面实现有限时间收敛,采用GPIO实时观测时变扰动并前馈补偿至速度环,约束开关增益以抑制抖振。仿真和实验表明,在100 r/min阶跃跟踪中,调节时间缩短至1.08 s(较PI控制提升32%),稳态误差降低至2.56 r/min,超调量减少7.51%。当突加卸负载为2.5 N·m时,由于广义比例积分观测器能够精准估计负载扰动,不仅有效抑制了抖振现象同时在加载和卸载下,最大速度波动值分别只有105.81 r/min(加载)和93.72 r/min(卸载),比PI控制相比少了7.51%,恢复到额定转速的时间也更短。对速度波动进行快速傅里叶分析,结果表明加观测器后的转速谐波分量,第1,2,6,12次分别衰减65%,29%,60%,47%。在位置环正弦跟踪实验中,GPIO观测器使得最大换向误差比不加观测器减小47%,跟踪误差的RMS值从0.25减小到0.13,位置跟踪精度提高了48%。实验结果表明,复合控制方法具有更好的抖振抑制、快速的动态响应和抗干扰能力。
To address the challenges of finite-time convergence and chattering induced by high gain in traditional sliding mode control,a novel composite control strategy is developed to enhance the performance of permanent magnet synchronous motors.This strategy integrates a nonsingular fast terminal sliding mode control(NFTSMC)algorithm with a generalized proportional-integral observer(GPIO).A sliding surface incorporating nonlinear terms is constructed to ensure finite-time convergence,while the GPIO facilitates real-time observation and feedforward compensation of time-varying disturbances within the speed loop.The switching gain is regulated to mitigate chattering effectively.Simulation and experimental results demonstrate that,under a 100 r/min step tracking input,the settling time is reduced to 1.08 s-representing a 32%improvement over conventional PI control-steady-state error decreases to 2.56 r/min,and overshoot is lowered by 7.51%.Upon application of a sudden 2.5 N·m load,precise disturbance estimation via the GPIO not only suppresses chattering but also constrains maximum speed fluctuations during loading and unloading to 105.81 r/min and 93.72 r/min,respectively,which is 7.51%lower than PI control,with a faster recovery to the rated speed.Fast Fourier Transform(FFT)analysis reveals that harmonic components of speed(1st,2nd,6th,and 12th)are attenuated by 65%,29%,60%,and 47%,respectively,following the incorporation of the observer.In sinusoidal position loop tracking experiments,the maximum commutation error is reduced by 47%and the root-mean-square tracking error decreases from 0.25 to 0.13 with the GPIO observer,improving position tracking accuracy by 48%.These findings substantiate that the proposed control method achieves superior chattering suppression,accelerated dynamic response,and enhanced disturbance rejection capability.
作者
周晓萌
李洪文
邵蒙
邓永停
王鹤
ZHOU Xiaomeng;LI Hongwen;SHAO Meng;DENG Yongting;WANG He(Changchun Institute of Optics,Precision Mechanics and Physics,Chinese Academy of Sciences,Changchung 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《光学精密工程》
北大核心
2025年第9期1407-1419,共13页
Optics and Precision Engineering
基金
吉林省科技发展计划资助项目(No.20230203113SF)。
关键词
永磁同步电机
非线性控制
滑模控制
抗干扰性能
permanent magnet synchronous motor
non-linear control
sliding mode control
anti interference performance
